Omron Sysmac NY-series Instruction & Reference Manual page 278

3 Axis Command Instructions
Precautions for Correct Use
Here, the task period is the primary period. The periodic task is the primary periodic task.
Additional Information
The command position that is calculated in the same task period enables greater precision in
synchronization than the command position that was calculated in the previous task period.
However, the axis number set for the Master (Master Axis) in the system-defined variable for
motion control must be lower than the axis number set for the Slave (Slave Axis) in the system-
defined variable for motion control.
 Relationship between Axis Types and Position Types
The relationship between the axis types that you can monitor and position types that is monitored is
shown below.
Axis Type
Servo axis
Encoder axis
Virtual servo axis
Virtual encoder
axis
*1. A Position Type Selection Out of Range error (error code: 5430 hex) occurs when the instruction is execut-
ed.
 Direction
You can start cam operation for the slave axis only if the travel direction of the master axis matches
the setting in Direction.
Direction is valid only while InSync is TRUE.
_mcNoDirection (No Direction Specified)
Cam operation starts regardless of whether the master axis is traveling in the positive or negative di-
rection.
Slave
position
Master
position
_mcPositiveDirection
Cam operation starts when the master axis is moving in the positive direction.
3-190
_mcCommand or _mcLatestCommand
OK
*1
No
OK
*1
No
Time
Time
ReferenceType
NY-series Motion Control Instructions Reference Manual (W561)
_mcFeedback
OK
OK
OK
OK